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Overview

This node belongs to the PTAM package of the ETHZASL_PTAM stack. It is a tool to display the 3D point cloud, keyframes and current camera pose and path in RViz and to save this information to a text file for later processing.

Usage

The node displays the information right after its start. Use the dynamic_reconfigure GUI to manage the information to be displayed in RViz and to store the data in text files. Note that only the point cloud of the current map in PTAM is displayed. If you only keep a few KFs in the map but still want to display all previously acquired map points, set the marker decay time in RViz to a higher value.

Node Information

ptam_visualizer

node to save and display the PTAM information such as the 3D point cloud, keyframes and current camera pose and path in RViz

Subscribed Topics

vslam/pose (geometry_msgs/PoseWithCovarianceStamped)

Published Topics

vslam/path_visualization (visualization_msgs/Marker) vslam/kf_visualization_array (visualization_msgs/MarkerArray) vslam/kfs (visualization_msgs/MarkerArray) vslam/pc2 (sensor_msgs/PointCloud2)

Parameters

Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters. ~ShowPC (bool, default: True) ~ShowAllKFs (bool, default: True) ~ShowKFs (bool, default: True) ~KFLifetime (int, default: 1) ~ShowPath (bool, default: True) ~PathLength (int, default: 1000) ~ExportPC (bool, default: False) ~ExportPrefix (str, default: ) ~SaveMap (bool, default: False) ~KFFlags (int, default: 0)

2019-10-12 12:58